基于变增益的遥操纵冗余自由度机器人力反馈研究

发布时间：2018-03-03 17:43

本文选题：遥操纵　切入点：冗余自由度　出处：《吉林大学》2016年硕士论文　论文类型：学位论文

【摘要】：遥操纵冗余自由度机器人从手的“自运动”特性让遥操纵机器人系统具有灵活性好、避障能力强等优点,极大地提高遥操纵机器人系统的灵活性和工作效率。因此研究遥操纵冗余自由度机器人系统具有重要的理论意义和实际应用价值。本文结合国家自然科学基金项目“遥操纵多自由度电液伺服机械手力反馈控制策略”(项目编号:50975118)和高等学校博士学科点专项科研基金资助课题“遥操纵电液欠驱动冗余自由度机械手双向伺服控制策略”(课题编号:20130061110009),研究提高遥操纵冗余自由度机器人系统双向伺服控制力反馈性能的方法。本文以四自由度主-从异构遥操纵冗余自由度机器人系统为研究对象,首先研究从端冗余自由度机械手的正逆解和动力学特性,包括采用D-H法进行运动学正解、基于阻尼伪逆和多目标优化的梯度投影法运动学逆解、Lagrange法动力学数学建模、工作空间计算以及奇异位形分析等。其次建立主-从电液伺服系统的数学模型,分析电液位置伺服系统的稳定性;针对Ziegler-Nichols方法依赖经验、实验以及实验现场不确定因素给系统带来影响的缺陷,采用参数空间图解法设计PD控制器,改善电液伺服系统的动态响应特性。针对力反馈效果不充分以及易对操作者产生冲击的问题,基于位置空间控制策略提出变增益位置空间双向伺服力反馈控制策略,并通过在空载、受到弹簧负载和刚性负载等情况下的仿真试验验证所提控制策略的有效性。仿真结果表明,变增益位置空间双向伺服力反馈控制策略可有效提高力反馈的灵敏度和减小反馈力对操作者的冲击。从而使操作者感知所接触物体的软硬程度,获得较好的力反馈效果,实现遥操纵冗余自由度机器人系统的力觉双向伺服控制,提高了遥操纵系统的透明性。
[Abstract]:The "self-motion" characteristic of redundant manipulators with redundant degrees of freedom makes the remote control robot system have the advantages of good flexibility and strong ability to avoid obstacles. It greatly improves the flexibility and working efficiency of the telecontrol robot system. Therefore, it is of great theoretical significance and practical application value to study the telecontrol redundant degree of freedom robot system. This paper combines with the National Natural Science Foundation of China. "Multi-DOF Electro-hydraulic Servo manipulator Force feedback Control Strategy" (Project No.: 50975118) and "Bidirectional Servo system of redundant manipulators with redundant degrees of Freedom under actuated by Electro-Hydraulics" supported by the Special Research Fund of doctoral subject points in Colleges and Universities. Control Strategy "(subject number 2013006110009), the method to improve the feedback performance of bidirectional servo control force of redundant robot system with redundant remote control is studied. The research object of this paper is the four-degree-master-slave redundant robot system with different degrees of freedom. Firstly, the forward and inverse solutions and dynamics characteristics of redundant manipulators with redundant degrees of freedom at the end of the manipulator are studied, including the kinematics forward solution using D-H method, the kinematic inverse solution of gradient projection method based on damping pseudo-inverse and multi-objective optimization, and the mathematical modeling of the Lagrange method based on the gradient projection method. Secondly, the mathematical model of the master-slave electro-hydraulic servo system is established to analyze the stability of the electro-hydraulic position servo system, and the Ziegler-Nichols method depends on the experience. The PD controller is designed by parametric space diagram method. In order to improve the dynamic response characteristics of electro-hydraulic servo system, a variable gain position space bi-directional servo force feedback control strategy is proposed based on the position space control strategy, aiming at the problem of insufficient force feedback effect and easy impact on the operator. The effectiveness of the proposed control strategy is verified by simulation experiments under the conditions of no load, spring load and rigid load. The simulation results show that the proposed control strategy is effective. The variable gain position space bi-directional servo force feedback control strategy can effectively improve the sensitivity of force feedback and reduce the impact of feedback force on the operator, so that the operator can perceive the soft and hard degree of the object in contact and obtain a better force feedback effect. The force-sensing bi-directional servo control of the redundant robot system is realized, and the transparency of the remote control system is improved.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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